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   &#160;<span id="projectnumber">2.2.1</span>
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   <div id="projectbrief">A 2D Physics Engine for Games</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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<!-- doxytag: class="b2WheelJoint" --><!-- doxytag: inherits="b2Joint" -->
<p><code>#include &lt;<a class="el" href="b2_wheel_joint_8h_source.html">b2WheelJoint.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for b2WheelJoint:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classb2_wheel_joint.png" usemap="#b2WheelJoint_map" alt=""/>
  <map id="b2WheelJoint_map" name="b2WheelJoint_map">
<area href="classb2_joint.html" alt="b2Joint" shape="rect" coords="0,0,88,24"/>
</map>
 </div></div>

<p><a href="classb2_wheel_joint-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a93f730702a2246be33c15f74861f0df5"></a><!-- doxytag: member="b2WheelJoint::GetDefinition" ref="a93f730702a2246be33c15f74861f0df5" args="(b2WheelJointDef *def) const " -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>GetDefinition</b> (<a class="el" href="structb2_wheel_joint_def.html">b2WheelJointDef</a> *def) const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6499dcd788d29f06c2e1b28c755e01c8"></a><!-- doxytag: member="b2WheelJoint::GetAnchorA" ref="a6499dcd788d29f06c2e1b28c755e01c8" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a6499dcd788d29f06c2e1b28c755e01c8">GetAnchorA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the anchor point on bodyA in world coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ace182061f7f78ac2ec3f957a763ca5d3"></a><!-- doxytag: member="b2WheelJoint::GetAnchorB" ref="ace182061f7f78ac2ec3f957a763ca5d3" args="() const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#ace182061f7f78ac2ec3f957a763ca5d3">GetAnchorB</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the anchor point on bodyB in world coordinates. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa16e3a1c0246017bc25e72cf494daa42"></a><!-- doxytag: member="b2WheelJoint::GetReactionForce" ref="aa16e3a1c0246017bc25e72cf494daa42" args="(float32 inv_dt) const " -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#aa16e3a1c0246017bc25e72cf494daa42">GetReactionForce</a> (float32 inv_dt) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the reaction force on bodyB at the joint anchor in Newtons. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae88eeec295a19f216acab9b23d9c704b"></a><!-- doxytag: member="b2WheelJoint::GetReactionTorque" ref="ae88eeec295a19f216acab9b23d9c704b" args="(float32 inv_dt) const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#ae88eeec295a19f216acab9b23d9c704b">GetReactionTorque</a> (float32 inv_dt) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the reaction torque on bodyB in N*m. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abf725ee0fa640d1b9374283f6f50e82d"></a><!-- doxytag: member="b2WheelJoint::GetLocalAnchorA" ref="abf725ee0fa640d1b9374283f6f50e82d" args="() const " -->
const <a class="el" href="structb2_vec2.html">b2Vec2</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#abf725ee0fa640d1b9374283f6f50e82d">GetLocalAnchorA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The local anchor point relative to bodyA's origin. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a38313bcd5d5a91f190956086b9d9b8e5"></a><!-- doxytag: member="b2WheelJoint::GetLocalAnchorB" ref="a38313bcd5d5a91f190956086b9d9b8e5" args="() const " -->
const <a class="el" href="structb2_vec2.html">b2Vec2</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a38313bcd5d5a91f190956086b9d9b8e5">GetLocalAnchorB</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The local anchor point relative to bodyB's origin. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a03c1a1cf19dbada68630aa3cbf970a55"></a><!-- doxytag: member="b2WheelJoint::GetLocalAxisA" ref="a03c1a1cf19dbada68630aa3cbf970a55" args="() const " -->
const <a class="el" href="structb2_vec2.html">b2Vec2</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a03c1a1cf19dbada68630aa3cbf970a55">GetLocalAxisA</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">The local joint axis relative to bodyA. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abc3791f9c8139e5c5ba0fb72d5c7f9df"></a><!-- doxytag: member="b2WheelJoint::GetJointTranslation" ref="abc3791f9c8139e5c5ba0fb72d5c7f9df" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#abc3791f9c8139e5c5ba0fb72d5c7f9df">GetJointTranslation</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current joint translation, usually in meters. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a398bc3a1f807905e0923cc7d9bff640d"></a><!-- doxytag: member="b2WheelJoint::GetJointSpeed" ref="a398bc3a1f807905e0923cc7d9bff640d" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a398bc3a1f807905e0923cc7d9bff640d">GetJointSpeed</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current joint translation speed, usually in meters per second. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a419bc80e17cc4c1062a692ea79396d19"></a><!-- doxytag: member="b2WheelJoint::IsMotorEnabled" ref="a419bc80e17cc4c1062a692ea79396d19" args="() const " -->
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a419bc80e17cc4c1062a692ea79396d19">IsMotorEnabled</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Is the joint motor enabled? <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a7a832d814bdda135a78fad41ba671da6"></a><!-- doxytag: member="b2WheelJoint::EnableMotor" ref="a7a832d814bdda135a78fad41ba671da6" args="(bool flag)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a7a832d814bdda135a78fad41ba671da6">EnableMotor</a> (bool flag)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable/disable the joint motor. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6e3255fcf5c82b979ad7e3dc1c089c0b"></a><!-- doxytag: member="b2WheelJoint::SetMotorSpeed" ref="a6e3255fcf5c82b979ad7e3dc1c089c0b" args="(float32 speed)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a6e3255fcf5c82b979ad7e3dc1c089c0b">SetMotorSpeed</a> (float32 speed)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the motor speed, usually in radians per second. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc7a31fdd444614ba1943f57f0c6ac5a"></a><!-- doxytag: member="b2WheelJoint::GetMotorSpeed" ref="acc7a31fdd444614ba1943f57f0c6ac5a" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#acc7a31fdd444614ba1943f57f0c6ac5a">GetMotorSpeed</a> () const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the motor speed, usually in radians per second. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a8aae3cd624ec9d48fc86c325c4595edc"></a><!-- doxytag: member="b2WheelJoint::SetMaxMotorTorque" ref="a8aae3cd624ec9d48fc86c325c4595edc" args="(float32 torque)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a8aae3cd624ec9d48fc86c325c4595edc">SetMaxMotorTorque</a> (float32 torque)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/Get the maximum motor force, usually in N-m. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad2d9fb270f0a62cd87234d3ce55626f3"></a><!-- doxytag: member="b2WheelJoint::GetMaxMotorTorque" ref="ad2d9fb270f0a62cd87234d3ce55626f3" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>GetMaxMotorTorque</b> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4fbfb199ed267f7a2fad934cd2f4fbdc"></a><!-- doxytag: member="b2WheelJoint::GetMotorTorque" ref="a4fbfb199ed267f7a2fad934cd2f4fbdc" args="(float32 inv_dt) const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a4fbfb199ed267f7a2fad934cd2f4fbdc">GetMotorTorque</a> (float32 inv_dt) const </td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the current motor torque given the inverse time step, usually in N-m. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af9f8fada5cb30f83aa2fbf486e9d347b"></a><!-- doxytag: member="b2WheelJoint::SetSpringFrequencyHz" ref="af9f8fada5cb30f83aa2fbf486e9d347b" args="(float32 hz)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#af9f8fada5cb30f83aa2fbf486e9d347b">SetSpringFrequencyHz</a> (float32 hz)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/Get the spring frequency in hertz. Setting the frequency to zero disables the spring. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a475fe44e145a7e3869c0a0ff5602bb20"></a><!-- doxytag: member="b2WheelJoint::GetSpringFrequencyHz" ref="a475fe44e145a7e3869c0a0ff5602bb20" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>GetSpringFrequencyHz</b> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a39b123ac045c8ec93faa65746e6655dc"></a><!-- doxytag: member="b2WheelJoint::SetSpringDampingRatio" ref="a39b123ac045c8ec93faa65746e6655dc" args="(float32 ratio)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a39b123ac045c8ec93faa65746e6655dc">SetSpringDampingRatio</a> (float32 ratio)</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Set/Get the spring damping ratio. <br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad991b903dd8b3820dfe3a2263b89f5aa"></a><!-- doxytag: member="b2WheelJoint::GetSpringDampingRatio" ref="ad991b903dd8b3820dfe3a2263b89f5aa" args="() const " -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>GetSpringDampingRatio</b> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09534b6f4c5d0254711e0bcc7cf3b0e4"></a><!-- doxytag: member="b2WheelJoint::Dump" ref="a09534b6f4c5d0254711e0bcc7cf3b0e4" args="()" -->
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classb2_wheel_joint.html#a09534b6f4c5d0254711e0bcc7cf3b0e4">Dump</a> ()</td></tr>
<tr><td class="mdescLeft">&#160;</td><td class="mdescRight">Dump to b2Log. <br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9c8bbb1068ddb46d074fe91802dd6a39"></a><!-- doxytag: member="b2WheelJoint::b2WheelJoint" ref="a9c8bbb1068ddb46d074fe91802dd6a39" args="(const b2WheelJointDef *def)" -->
&#160;</td><td class="memItemRight" valign="bottom"><b>b2WheelJoint</b> (const <a class="el" href="structb2_wheel_joint_def.html">b2WheelJointDef</a> *def)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af3fc35c89dc253661297d69fe4a00a97"></a><!-- doxytag: member="b2WheelJoint::InitVelocityConstraints" ref="af3fc35c89dc253661297d69fe4a00a97" args="(const b2SolverData &amp;data)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>InitVelocityConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a09283ebe01298e6a2e897ca409b70289"></a><!-- doxytag: member="b2WheelJoint::SolveVelocityConstraints" ref="a09283ebe01298e6a2e897ca409b70289" args="(const b2SolverData &amp;data)" -->
void&#160;</td><td class="memItemRight" valign="bottom"><b>SolveVelocityConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae14faaa2cd91bdea615e86c0dd2ccc97"></a><!-- doxytag: member="b2WheelJoint::SolvePositionConstraints" ref="ae14faaa2cd91bdea615e86c0dd2ccc97" args="(const b2SolverData &amp;data)" -->
bool&#160;</td><td class="memItemRight" valign="bottom"><b>SolvePositionConstraints</b> (const <a class="el" href="structb2_solver_data.html">b2SolverData</a> &amp;data)</td></tr>
<tr><td colspan="2"><h2><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a0570ebb1228c2baca4630c53b77792fa"></a><!-- doxytag: member="b2WheelJoint::m_frequencyHz" ref="a0570ebb1228c2baca4630c53b77792fa" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_frequencyHz</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a712554f6a298cf8a69bbf546fa465843"></a><!-- doxytag: member="b2WheelJoint::m_dampingRatio" ref="a712554f6a298cf8a69bbf546fa465843" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_dampingRatio</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9911353143312dc352928a80c63813c8"></a><!-- doxytag: member="b2WheelJoint::m_localAnchorA" ref="a9911353143312dc352928a80c63813c8" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localAnchorA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1bc3fa1a0bad5eb2cc7b9962976c1d29"></a><!-- doxytag: member="b2WheelJoint::m_localAnchorB" ref="a1bc3fa1a0bad5eb2cc7b9962976c1d29" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localAnchorB</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae1cadd777bdffbb726b15c438e081c21"></a><!-- doxytag: member="b2WheelJoint::m_localXAxisA" ref="ae1cadd777bdffbb726b15c438e081c21" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localXAxisA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5e9566b969c24428d32ff2069d4180e3"></a><!-- doxytag: member="b2WheelJoint::m_localYAxisA" ref="a5e9566b969c24428d32ff2069d4180e3" args="" -->
<a class="el" href="structb2_vec2.html">b2Vec2</a>&#160;</td><td class="memItemRight" valign="bottom"><b>m_localYAxisA</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a81a874642cc60caa2eb212eda3b266f0"></a><!-- doxytag: member="b2WheelJoint::m_impulse" ref="a81a874642cc60caa2eb212eda3b266f0" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_impulse</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1116db6834e3b62a651558f6bdfe000e"></a><!-- doxytag: member="b2WheelJoint::m_motorImpulse" ref="a1116db6834e3b62a651558f6bdfe000e" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_motorImpulse</b></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a83aa86813105dc1189fed8acf1767eb5"></a><!-- doxytag: member="b2WheelJoint::m_springImpulse" ref="a83aa86813105dc1189fed8acf1767eb5" args="" -->
float32&#160;</td><td class="memItemRight" valign="bottom"><b>m_springImpulse</b></td></tr>
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<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a54ade8ed3d794298108d7f4c4e4793fa"></a><!-- doxytag: member="b2WheelJoint::b2Joint" ref="a54ade8ed3d794298108d7f4c4e4793fa" args="" -->
class&#160;</td><td class="memItemRight" valign="bottom"><b>b2Joint</b></td></tr>
</table>
<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A wheel joint. This joint provides two degrees of freedom: translation along an axis fixed in bodyA and rotation in the plane. You can use a joint limit to restrict the range of motion and a joint motor to drive the rotation or to model rotational friction. This joint is designed for vehicle suspensions. </p>
</div><hr/>The documentation for this class was generated from the following files:<ul>
<li><a class="el" href="b2_wheel_joint_8h_source.html">b2WheelJoint.h</a></li>
<li>b2WheelJoint.cpp</li>
</ul>
</div>
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